Add three-seed execution and command-duration validation

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+live_validation.json filter=lfs diff=lfs merge=lfs -text

README.md

@@ -3,7 +3,7 @@ license: cc-by-4.0
 language:
 - en
 size_categories:
-- n<1K
+- 1K<n<10K
 pretty_name: Robot Execution Validation
 tags:
 - robotics
@@ -14,76 +14,95 @@ tags:
 ---
 # Robot Execution Validation
 
-VLABench execution records for released SmolVLA and Pi0 policies: 320 primary
-confirmation attempts, a prospectively specified 60-attempt family-matched native
-validation extension, and 37 separately reported development attempts. Each native
-trajectory is evaluated at 60 and 200 actions. Paired instructions use the same
-initial state and requested-versus-alternative goal predicates.
+Execution and instruction-control records for released SmolVLA and pi0 policies
+in VLABench. The live validation contains 1860 scheduled attempts: 420 native
+controls and 1440 paired-scene rollouts, using inference seeds 11, 29 and 47.
+The 60 nominal paired fixtures represent 44 distinct initial scenes. Repeated
+fixtures, requests and seeds are grouped within physical scenes for inference.
+The separate command-duration follow-up contains 420 native attempts on the same
+configurations and seeds, with each command held for two environment steps.
 
 | File | Contents |
 |---|---|
-| `confirmation.json` | Frozen primary results, per-trial measurements, summaries, and raw-file hashes |
-| `extension.json` | Frozen validation-extension results and the prospective configuration selection |
-| `reproduction.zip` | Evaluation/analysis code, tests, protocols, selected inputs, complete action traces, initial states, scene images, and environment versions |
-| `SHA256SUMS.json` | File checksums |
-
-## Reproduce the analysis
-
-Download the files from one fixed repository revision and extract `reproduction.zip`.
-The archive has its own file-level `SHA256SUMS.json`. Python 3.10 or later with NumPy,
-SciPy, Matplotlib, and pytest is sufficient for analysis; no GPU is required.
-Use the recorded package versions for exact regeneration.
+| `live_validation.json` | Complete live-study export, measurements, clustered analyses and raw-file checksums |
+| `controller_timing.json` | Complete matched-time follow-up export and clustered comparisons |
+| `live_reproduction.zip` | Both October studies: evaluator, analysis, tests, protocols, selections, traces, initial arrays, physics parameters, deduplicated initial images and excluded implementation checks |
+| `confirmation.json`, `extension.json` | Unchanged September exports, with 320 and 60 scheduled attempts |
+| `reproduction.zip` | September reproduction code, inputs, traces and separate development records |
+| `SHA256SUMS.json` | Checksums of the files at this repository revision |
+
+## Reproduce the live analysis
+
+Download `live_validation.json`, `controller_timing.json`, and `live_reproduction.zip`
+from one fixed revision into the same directory. Extract the archive there and
+verify every file against its internal `SHA256SUMS.json`. Python 3.10 or later
+with NumPy, SciPy and pytest is sufficient; analysis does not require a GPU.
+The original analysis used Python 3.10.12, NumPy 1.25.0 and SciPy 1.14.0.
+Use these versions for byte-identical exports; other SciPy versions can differ
+in the last floating-point digits of descriptive beta-quantile intervals.
 
 From the extracted directory:
 
 ```bash
-cp /path/to/download/confirmation.json code/paper/reproduce/revision_results.json
-cp /path/to/download/extension.json code/paper/reproduce/validation_extension_results.json
 cd code
 export PYTHONPATH="$PWD/src:$PWD"
 python -m pytest tests -q
-python -m experiments.revision.freeze --root ../confirmation --out ../confirmation_check.json
-python -m experiments.revision.freeze_extension --root ../extension --out ../extension_check.json
-python -m paper.reproduce.revision_assets --out ../latex_assets
-python -m paper.reproduce.extension_assets --out ../latex_assets
+python -m experiments.revision.materialize_recorded_images --root ..
+python -m experiments.revision.analyze_live_validation \
+  --root ../live --selection ../live/selection_v2.json --out ../checked_live.json
+python -m experiments.revision.analyze_controller_timing \
+  --root ../timing --selection ../timing/selection.json \
+  --baseline-export ../live_validation.json --baseline-root ../live \
+  --out ../checked_timing.json
 ```
 
-The checked exports reproduce the downloaded JSON files. The generated assets include
-the original four-family native results, paired outcomes, progress, development results,
-family-matched extension and synthesis, and stopping-rule sensitivity. Technical errors
-remain distinct from observed goal outcomes. The paired first-goal analysis is post hoc;
-the original native-stop outcomes are retained alongside it.
+Compare the checked files with the corresponding downloaded exports. Initial PNG
+files are stored once per content hash; the materialization command restores
+their episode paths before raw-file verification, without changing their bytes.
+The main analyzer
+requires all 930 result records per policy and checks the scheduled configurations,
+checkpoint/source hashes, consecutive traces, actual initial arrays, online stopping,
+reporting horizons and hold measurements. No failed trial is replaced. Goal attainment
+and retention during ten stationary-controller steps are separate outcomes.
+Blank and shuffled rollouts are each labelled against both candidate goals but
+count as one physical trial. Their pooled conditional target fraction is balanced
+by this two-label scoring; it is not an independent test of target preference.
+
+To regenerate the nine October result tables, hash macros and native timing figure,
+install Matplotlib and run from `code/`:
 
-Extension validation compares the frozen selected configurations with the recorded inputs,
-undoing only VLABench's automatic expansion of relative XML asset paths. No raw record or
-prospective selection is changed. The extension retains three Pi0 numerical failures.
+```bash
+python paper/reproduce/live_assets.py --live-export ../live_validation.json \
+  --timing-export ../controller_timing.json --output ../manuscript_assets
+```
 
-## Rerun execution
+## Rerun the live evaluation
 
-Use the package inventories in `environments/versions.json` and install these pinned
-upstream sources and their assets in separate simulator and policy environments:
+Use separate simulator and policy environments, with versions and lock files
+under `environments/`. Install the pinned upstream code and assets:
 
-- [VLABench](https://github.com/OpenMOSS/VLABench), revision `cf588fe60c0c7282174fe979f5913170cfe69017`.
-- [SmolVLA checkpoint](https://huggingface.co/lerobot/smolvla_vlabench), revision `4fd586e12dc14b04d9d606ddbb77448df4f0ff29`.
-- [Pi0 checkpoint](https://huggingface.co/VLABench/pi0-primitive-10task), revision `1ad73753a74d5cd97e67856664350f3f0baa21dc`.
-- [Author OpenPI implementation](https://github.com/Shiduo-zh/openpi), revision `4483d1da6332da44115fe530e4e6fdd89bd57b13`; use the included `openpi_uv.lock`.
+- [VLABench](https://github.com/OpenMOSS/VLABench): `cf588fe60c0c7282174fe979f5913170cfe69017`.
+- [SmolVLA checkpoint](https://huggingface.co/lerobot/smolvla_vlabench): `4fd586e12dc14b04d9d606ddbb77448df4f0ff29`.
+- [pi0 checkpoint](https://huggingface.co/VLABench/pi0-primitive-10task): `1ad73753a74d5cd97e67856664350f3f0baa21dc`.
+- [VLABench OpenPI implementation](https://github.com/Shiduo-zh/openpi): `4483d1da6332da44115fe530e4e6fdd89bd57b13`.
 
-Initialize a local Git checkout of `code/` before execution so the evaluator can
-record the reproduction's source revision. From `code/`, relocate archived asset
-references into a fresh directory:
+From `code/`, create fresh copies with local asset and scene paths:
 
 ```bash
 python -m experiments.revision.prepare_reproduction --inputs ../inputs \
   --vlabench-root /path/to/VLABench/VLABench --out ../relocated
+python -m experiments.revision.prepare_live_reproduction \
+  --selection ../live/selection_v2.json --relocated-inputs ../relocated \
+  --vlabench-root /path/to/VLABench/VLABench --out ../selection_local.json
 ```
 
-Set `PROJECT_STORAGE_ROOT` to the absolute path of `../relocated`, `VLABENCH_ROOT`
-to the installed benchmark package, and `PYTHONPATH` to `code/src:code` using absolute
-paths. Set `MUJOCO_GL=egl`, `OMP_NUM_THREADS=4`, and `OPENBLAS_NUM_THREADS=4`.
-The evaluator permits physical GPUs 0 through 4 and enforces one renderer at a time.
-Keep inference and rendering on separate GPUs.
+Set `PROJECT_STORAGE_ROOT` to the absolute `relocated/` path and `VLABENCH_ROOT`
+to the installed benchmark package. Keep `PYTHONPATH` set to `code/src:code`
+using absolute paths. Set `MUJOCO_GL=egl`, `OMP_NUM_THREADS=4` and
+`OPENBLAS_NUM_THREADS=4`. Use one renderer at a time, with inference on separate
+GPUs. The supplied resource guard permits physical GPUs 0 through 4.
 
-Start the services in their respective policy environments:
+Start the services in their policy environments:
 
 ```bash
 python -m experiments.e2a.smolvla_server --gpu 1 --port 5581
@@ -91,22 +110,46 @@ python -m experiments.revision.pi0_server --gpu 3 --port 5583 \
   --repo /path/to/openpi --checkpoint /path/to/pi0-checkpoint
 ```
 
-Run the evaluator in the simulator environment with `CUDA_VISIBLE_DEVICES=0`.
-For the extension, use `--tasks select_book,select_mahjong,select_poker` and the
-relocated published track. For the original native control, use
-`--tasks select_fruit,select_toy,select_chemistry_tube,select_drink`.
+Run the following commands serially in the simulator environment, with
+`CUDA_VISIBLE_DEVICES=0`, from `code/`:
+
+```bash
+python -m experiments.revision.live_validation --out ../rerun/smolvla \
+  --selection ../selection_local.json --policy smolvla --port 5581 --chunk 50
+python -m experiments.revision.live_validation --out ../rerun/pi0 \
+  --selection ../selection_local.json --policy pi0 --port 5583 --chunk 5
+```
+
+Use fresh output directories; an existing manifest cannot be mixed with new settings.
+Seeds and jobs remain unchanged by path relocation. Native goals and both paired
+goals are checked online at each action. The 200-action common diagnostic limit
+is not every family's published task limit; the 100-action snapshot also reports
+the playing-card limit. A new simulator run need not reproduce complete trajectories
+bitwise. Keep its measurements separate from the downloaded frozen records.
+
+For the command-duration follow-up, relocate the fixed native selection and run
+both policies serially, in separate fresh outputs, with the same service settings:
 
 ```bash
-python -m experiments.revision.vlabench_control --out /path/to/fresh/run \
-  --tasks select_book,select_mahjong,select_poker \
-  --track-config ../relocated/track_1_in_distribution.json --episodes-per-task 10 \
-  --policy-seed 17 --max-substeps 1 --max-steps 200 --port 5581 --chunk 50
+python -m experiments.revision.prepare_timing_reproduction \
+  --selection ../timing/selection.json --vlabench-root /path/to/VLABench/VLABench \
+  --out ../timing_selection_local.json
+python -m experiments.revision.controller_timing --out ../timing_rerun/smolvla \
+  --selection ../timing_selection_local.json --policy smolvla --port 5581 --chunk 50
+python -m experiments.revision.controller_timing --out ../timing_rerun/pi0 \
+  --selection ../timing_selection_local.json --policy pi0 --port 5583 --chunk 5
 ```
 
-Use `--port 5583 --chunk 5` for Pi0. For paired instructions, replace `--tasks` and
-`--track-config` with `--paired-spec ../relocated/final_study_command_spec.json`.
-Use fresh output directories and compare actual initial-state and observation hashes.
-The common 200-action diagnostic budget is not every task's official leaderboard budget.
+Physics and environment stepping remain at 1000 Hz and 10 Hz; commands are issued
+at 5 Hz. The common limit is 200 environment steps (20 s), at most 100 commands.
+Unchanged chunk counts double physical replanning intervals. This is a command-hold
+comparison, not an isolated frequency intervention. The timing analysis above
+verifies the downloaded original matched pairs; newly generated trajectories are
+separate measurements, not substitutes for these frozen records.
+
+`excluded/` preserves the implementation smoke checks and the interrupted launch's
+result-less initialization. These files are not additional study attempts. Completed
+main-study results are retained unchanged, including numerical failures.
 
-The separate synthetic-speech records are available in
-[multilingual-robot-grounding-causal-audit](https://huggingface.co/datasets/nur-dev/multilingual-robot-grounding-causal-audit/tree/0d82c875c6d58b1406b0217c9fc5deb0904df0f2).
+The September exports and their original instructions remain available at
+[the September revision](https://huggingface.co/datasets/nur-dev/robot-execution-validation/tree/edd6ea3b0586386743232e587d5aade0b0bd2609).

SHA256SUMS.json

@@ -1,5 +1,8 @@
 {
-  "README.md": "2b5759cae3ac461519fdf4abc2ed3cbb951f83c46683d1856e8dc960f4d0110b",
+  "README.md": "6629f84ef23f9a4517b91f73fc1cc87b5359cc55a0110e968c0edeac39f6d603",
+  "controller_timing.json": "ff60147c42ad7c39701759cb17b644dbbf52ee0a09d5f6e997724d9de1275690",
+  "live_reproduction.zip": "a888a4b4b7e2eaa4d453228acd03d77e320d02a848ea131168f6ff9699fea498",
+  "live_validation.json": "5de8fb7ddd7252aebc0f14834dd4609e3bae5367f66a265fe5d1a46fbc974e1f",
   "confirmation.json": "7fb9e519d36d2dd48405f475b1f4edb7b804fdcbdd26f7fe30e4b990a90e18a3",
   "extension.json": "7ec8074aab116bd3dd8f41073a2bd856e62d98f2736028f5966e10f7cbd98f1f",
   "reproduction.zip": "d10a531056efe36ff092146e925c9fc3cc86a7cd821115ca4964d9abb1c7de96"

live_reproduction.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a888a4b4b7e2eaa4d453228acd03d77e320d02a848ea131168f6ff9699fea498
+size 173495079

live_validation.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de8fb7ddd7252aebc0f14834dd4609e3bae5367f66a265fe5d1a46fbc974e1f
+size 23034502